Leading—coordinated Formation Control Of Follow-up Multi-mobile Robots

Single robot can not meet some complex and specific tasks,in contrast,the cooperation of multiple robots can efficiently complete the task.Therefore,the cooperative formation control of multiple mobile robots has extensive research value.This dissertation focuses on the construction of experimental platform of multiple mobile robots system and formation control algorithm under leader-follower structure.The research contents are as follows:(1)According to the requirements of real-time,accuracy and distributed cooperation of the multiple mobile robots system,the multiple mobile robots experimental platform based on STM32 microcontroller is built,the wireless communication between robot and robot is realized.The modular design of the system is as follows: the main control module adopts the microcontroller based on arm Cortex-M3 core;the wireless communication module adopts the Zig Bee self-organizing star network structure;the speed measurement module obtains the real-time speed information of the mobile robot;the motor control module uses closed-loop control to improve accuracy and achieve various movements of the robot.(2)Aiming at the problem of cooperative formation control under leader-follower structure,a formation control method based on leader-follower method is designed.This method establishes the kinematics model of the leader-follower.The formation controller is designed by combining the dynamic error equation of the formation system and the characteristics of the kinematic model.Based on the Lyapunov stability theory,it is proved that the tracking error converges to a small neighborhood of the origin under the formation controller.The algorithm is transplanted to the simulation platform and the experimental platform,it realizes triangle formation,horizontal formation and vertical formation.(3)A formation control method based on leader-follower method combined with fast terminal sliding mode is designed.This method is combined with fast terminal sliding mode control to design the formation controller.Based on the Lyapunov stability theory with the form of fast terminal sliding mode surface,it is proved that the tracking error converges to the small neighborhood of the origin within a limited time under the formation controller.The simulation and the experimental prove the effectiveness of the proposed method.